@InProceedings{Cioffi20iros,
  author        = {Giovanni Cioffi, Davide Scaramuzza},
  title         = {Tightly-coupled Fusion of Global Positional Measurements in Optimization-based Visual-Inertial Odometry},
  booktitle     = {{IEEE} Int. Conf. Intel. Robots and Syst. (IROS)},
  year          = 2020
}
